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Add ublox9 handling (same as ublox8) for testing.

pull/793/head
cyoung 2019-04-08 12:20:03 -04:00
rodzic 9e211d849d
commit 9afe00dbc7
3 zmienionych plików z 12 dodań i 6 usunięć
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6
image/10-stratux.rules
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@ -2,10 +2,12 @@
# Auto-detect common USB stratux peripherals.
# u-blox devices. Known devices include
# ublox8: RY835AI, RY836AI
# ublox7: VK-172, RY725AI
# ublox9: experimental boards
# ublox8: RY835AI, RY836AI, GPYes 2.0
# ublox7: VK-172, RY725AI, GPYes
# ublox6: VK-162
SUBSYSTEMS=="usb", ATTRS{idVendor}=="1546", ATTRS{idProduct}=="01a9", SYMLINK+="ublox9"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="1546", ATTRS{idProduct}=="01a8", SYMLINK+="ublox8"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="1546", ATTRS{idProduct}=="01a7", SYMLINK+="ublox7"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="1546", ATTRS{idProduct}=="01a6", SYMLINK+="ublox6"

1
main/gen_gdl90.go
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@ -90,6 +90,7 @@ const (
GPS_TYPE_GARMIN = 0x06
*/
GPS_TYPE_UBX9 = 0x09
GPS_TYPE_UBX8 = 0x08
GPS_TYPE_UBX7 = 0x07
GPS_TYPE_UBX6 = 0x06

11
main/gps.go
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@ -195,10 +195,13 @@ func initGPSSerial() bool {
isSirfIV := bool(false)
globalStatus.GPS_detected_type = 0 // reset detected type on each initialization
if _, err := os.Stat("/dev/ublox8"); err == nil { // u-blox 8 (RY83xAI over USB).
if _, err := os.Stat("/dev/ublox9"); err == nil { // u-blox 8 (RY83xAI over USB).
device = "/dev/ublox9"
globalStatus.GPS_detected_type = GPS_TYPE_UBX9
if _, err := os.Stat("/dev/ublox8"); err == nil { // u-blox 8 (RY83xAI or GPYes 2.0).
device = "/dev/ublox8"
globalStatus.GPS_detected_type = GPS_TYPE_UBX8
} else if _, err := os.Stat("/dev/ublox7"); err == nil { // u-blox 7 (VK-172, VK-162 Rev 2, RY725AI over USB).
} else if _, err := os.Stat("/dev/ublox7"); err == nil { // u-blox 7 (VK-172, VK-162 Rev 2, GPYes, RY725AI over USB).
device = "/dev/ublox7"
globalStatus.GPS_detected_type = GPS_TYPE_UBX7
} else if _, err := os.Stat("/dev/ublox6"); err == nil { // u-blox 6 (VK-162 Rev 1).
@ -303,8 +306,8 @@ func initGPSSerial() bool {
glonass := []byte{0x06, 0x04, 0x0E, 0x00, 0x00, 0x00, 0x01, 0x01} // this disables GLONASS
galileo := []byte{0x02, 0x04, 0x08, 0x00, 0x00, 0x00, 0x01, 0x01} // this disables Galileo
if (globalStatus.GPS_detected_type == GPS_TYPE_UBX8) || (globalStatus.GPS_detected_type == GPS_TYPE_UART) { // assume that any GPS connected to serial GPIO is ublox8 (RY835/6AI)
log.Printf("UBX8 device detected on USB, or GPS serial connection in use. Attempting GLONASS and Galelio configuration.\n")
if (globalStatus.GPS_detected_type == GPS_TYPE_UBX8) || (globalStatus.GPS_detected_type == GPS_TYPE_UBX9) || (globalStatus.GPS_detected_type == GPS_TYPE_UART) { // assume that any GPS connected to serial GPIO is ublox8 (RY835/6AI)
log.Printf("UBX8/9/unknown device detected on USB, or GPS serial connection in use. Attempting GLONASS and Galelio configuration.\n")
glonass = []byte{0x06, 0x08, 0x0E, 0x00, 0x01, 0x00, 0x01, 0x01} // this enables GLONASS with 8-14 tracking channels
galileo = []byte{0x02, 0x04, 0x08, 0x00, 0x01, 0x00, 0x01, 0x01} // this enables Galileo with 4-8 tracking channels
updatespeed = []byte{0x06, 0x00, 0xF4, 0x01, 0x01, 0x00} // Nav speed 2Hz